/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "ApproachMeasure3D.hpp"

#include "Grasp3D.hpp"

using namespace rw::graspplanning;
using namespace rw::math;

double ApproachMeasure3D::quality (const Grasp3D& grasp) const
{
    double quality = 0;
    for (size_t i = 0; i < grasp.approach.size (); i++) {
        const Vector3D<>& v1 = grasp.approach[i];
        const Vector3D<>& v2 = grasp.contacts[i].n;
        double ang           = fabs (acos (dot (normalize (v1), normalize (v2))));
        if (ang > _maxAngle) {
            return 0;
        }
        quality += 1 - ang / _maxAngle;
    }
    return quality / grasp.approach.size ();
}
